Torsional stepping motor and exciter apparatus therefor

ABSTRACT

A stepping or indexing motor including plural electrical-tomechanical energy transducer devices and a torsionally resilient coupling member for connecting transducer device rotor members and for storing rotor member mechanical energy between rotor member movements; the torsionally resilient coupling member also providing starting torque for the stepping motor, and a means for driving separately the inertia component and the friction component of the stepping motor load; and the torsionally resilient coupling member also providing means for achieving high torque-to-inertia and torque-to-motor volume rations in the motor. In one embodiment a transducer device takes the form of a rotor, a stator, and a winding carried at each end of the coupling member with the output torque at a motor shaft being derived both from an adjacent transducer device and from energy stored in the torsionally resilient coupling member during alternate sequential energizing and deenergizing of transducer windings, such alternate sequential energizing and deenergizing action subjecting the coupling member to a twisting action and a relaxing action during each step of operation. Electrical circuitry for controlling the flow of energy into the stepping motor and for removing energy from the motor magnetic circuit is also described along with a method for achieving a novel energy conserving release of rotor and stator magnetic engagement.

United States Patent i 1 A Hays'et al. 7

[ TORSIONAL STEPPING MOTOR AND EXCITER APPARATUS THEREFOR [75] Inventors: John D. Hays, Troy; Johnny F.

Schauerte; Harlen L. Baswell, both of Dayton, all of Ohio [73] Assignee: The National Cash Register Company, Dayton, Ohio 22 Filedz- Oct, 12,1971 21 Appl. No; 188,419

[52] U.S. Cl. 318/696, 310/49 [51] Int. Cl. H02k 37/00 [58] Field of Search 318/153, 254, 696,

[56] References Cited UNITED STATES PATENTS 3,327,191 6/1967 Goto 318/696 3,331,974 7/1967 Proctor, 318/696 3,309,988 3/1967 Touchman 310/49 3,389,843 6/1968 Touchman 352/187 3,505,950 4/1970 Harper 101/93 Primary Examiner-G. R. Simmons Attorney-J. T. Cavender, Wilbert Hawk, Jr. and George J. Muckenthaler [5'7] AllS TRACT A stepping or indexing motor including plural electri- June 12, 1973 cal-to-mechanical energy transducer devices and a torsionally resilient coupling member for connecting transducer device rotor members and for storing rotor member mechanical energy between rotor member movements; the torsionally resilient coupling member also providing starting torque for the stepping motor, and a means for driving separately the inertia component and the friction component of the stepping motor load; and the torsionally resilient coupling member also providing means'for achieving high' torquc-to-inertia and torque-to-motor volume rations in the motor. In one embodiment a transducer device takes the form of 'arotor, a stator, and a winding carried at each end of the coupling member with the output torque at a motor shaft being derived both from an adjacent transducer device and from energy stored in the torsionally resilient coupling member during alternate sequential energizing and deenergizing of transducer windings, such alternate sequential energizing and deenergizing action subjecting the coupling member to a twisting action and a relaxing action during each step of operation. Electrical circuitry for controlling the flow of energy into the stepping motor and for removing energy from the motor magnetic circuit is also described along with a method for achieving a novel energy conserving release of rotor and stator meagnetic engagement.

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389 DRIVER 2 I I I I I I I I I I l I I I I (3 DRIVER I CASE) I v I v ONE COMPLETE POSITION HOLD- ON OFF STEPPING CYCLE ms WITH BOTH A 1 INCLUDING MOTION ENDS 0F SECOND AT BOTH ENDS RESILIENT STEPPWG OF RESILIENT COUPLING CYCLE COUPLING RETAINED INVEINTORS JOHN D. HAYS JOHNNY F SCHAUERTE 8 HARLEN L. BASWELL Hem ATTORNEYS TORSIONAL STEPPING MOTOR AND EXCITER APPARATUS THEREFOR CROSS REFERENCE TO RELATED APPLICATIONS The drawings and the detailed description of the invention portions of the present application are common to two applications for letters patent, the present application Ser. No. 188,419 filed Oct. 12, 1971 and application Ser. No. 188,420, filed Oct. 12, 1971, both assigned to The National Cash Register Company.

BACKGROUND OF THE INVENTION This invention pertains to a stepping motor or incremental motion device of the type employing plural electrical-to-mechanical energy transducer devices with the separate transducers being connected by a tor-- sionally resilient coupling member to form a single stepping motor or incremental motion device. The invention includes electrical circuitry preferably of the solid state electronic type for coordinated control of transducer excitation.

DESCRIPTION OF THE PRIOR ART Stepping mechanisms or indexing mechanisms for driving transporting devices or advancing devices have been previously used where it is desirable to advance tapes, record material, films or the like in incremental manner and without the use of complex clutch and brake mechanisms. In recent years, the use of stepping motors in processing data has become increasingly common because of the high speed operation and precise positioning of the driven member possible with a stepping motor; data processing uses of a stepping motor have been limited, however, by the relatively small output torque available from such motors in the prior art.

Several patents in the prior art contain structures which partially resemble various embodiments of the present invention; one example of such prior art is British Pat. No. 989,172 issued on the application of Alan Stone and Electric and Musical Industries, Limited on Apr. 14, 1965. In the Stone patent there is shown a two rotor stepping motor having the rotors mounted on a common shaft and magnetically engaged by two separate stators. The Stone patent differs from embodiments of the present invention in that the Stone rotors are rotationally displaced by less than one-half of the pole pitch, while rotors in embodiments of the present invention are displaced by substantially one-half of the pole pitch. In the Stone patent, the rotor shaft is also rigid and massive while the shaft in embodiments of the present invention is torsionally resilient.

Another example of prior art partially resembling embodiments of the present invention is found in U. S. Pat. No. 3,143,674 issued on the application of G. V. Bond. The Bond patent also concerns a stepping motor having two rotors which are engaged by two separate stators. In the Bond patent, the stepping motor rotors are connected by differential gearing and are allowed to rotate only through a limited arc of rotation, this limited arc rotation being converted into continuous output shaft rotation by the use of a rotary ratchet and pawl mechanism. The Bond invention also includes a torsion bar used for restoring the rotors to their normal position following a limited arc rotation event. The

Bond invention differs from the present invention by its necessary incorporation of the ratchet and pawl mechanism, by its necessary incorporation of gears connecting the two rotors, by the use of a torsion shaft only for motor resetting, and by the mounting of rotors on different but concentric shafts.

Other examples of prior art partially resembling embodiments of the present invention are found in a series of United States patents issued to William S. Touchman and Leonard 'R. Harper and including US Pat. Nos. 3,309,988; 3,389,843; 3,468,343 and 3,505,950, respectively. The Touchman and Harper inventions all involve a torsionally resilient shaft connected between multiple-toothed rotor members which are excited in intermittent fashion. The Touchman and Harper inventions differ from that of the present application in that they necessarily incorporate a source of continuous rotation mechanical energy (a motor) for driving the torsion shaft and also necessarily include apparatus for exciting the rotors and torsion shaft into mechanical resonance through periodic braking of the rotors.

Yet other examples of prior art mechanisms which partially resemble embodiments of the present invention are found in the series of patents issued to A. G. Thomas and including US Pat. Nos. 2,578,648; 2,774,922; 2,782,354; 2,787,719; 2,808,556 and 2,830,246. Although each of these patents concerns a stepping motor having multiple rotors which are rotationally displaced from each other on a common shaft, none of these patents incorporates the torsionally resilient shaft or the principle of storing energy in a torsionally resilient shaft as found in the present invention.

While these examples of the prior art disclose particular constructions for stepping motors and related apparatus, they do not show the simple and low cost combination of one or more torsionally resilient members coupling the rotors of two or more incremental motion electrical-to-mechanical transducer devices nor do they show this simple combination excited by mechanical energy conserving exciter apparatus.

SUMMARY OF THE INVENTION The present invention relates to stepping motors and more particularly to a stepping motor having a torsion shaft which stores energy therein and which releases energy therefrom to drive an output member in incremental fashion. Secured to the torsion shaft near each end is a rotor having a plurality of teeth on the periphery thereof and associated with each rotor is a stator contained in a housing, the stator having a plurality of teeth corresponding to those of the rotor. The torsion shaft is journaled in bearings supported in the motor housing at the ends thereof and is constructed to be connected at one end to a driven mechanism for transmitting the output stepping motion. A coil, carried by each stator, is to be energized and deenergized by a driver-controller, energy from the controller acting to capture, hold, and release the rotor-stator teeth.

Operation of the above stepping motor is preceded by an initial set-up condition during which energization of a first coil at one end of the shaft aligns the teeth of the associated rotor and stator, while the shaft remains in a relaxed state; upon energization of the second coil at the other end of the shaft, the teeth of the associated second rotor and stator are aligned with each other following rotation of the rotor and twisting the shaft to a wound-up condition wherein energy is stored within the shaft.

Following the initial set-up condition, stepping motion is started by deenergizing the first coil which releases energy stored in the torsion shaft. During energy release the shaft unwinds and accelerates the rotor toward a new rotor-stator aligned condition. Acceleration of the rotor is brought about by unleashing energy stored in the torsion shaft, the unleashing continuing at least until the centerline of a rotor tooth reaches the centerline between its previous and its succeeding stator tooth where the shaft is again subjected to twisting action and thus starts decelerating the rotor. Rotor deceleration continues until the succeeding rotor-stator tooth alignment is attained, whereupon the first coil is reenergized to lock the rotor and stator teeth together. Following the first stepping motion, the shaft is woundup an amount equal to the original twisting but in a direction opposite the original twisting. During this step, energy was taken from the wound-up shaft during load acceleration and energy was returned to the shaft during load deceleration.

In the same manner as above, the second coil is deenergized and the second stepping motion commenced at the second rotor end of the motor.

In accordance with the above discussion, it is an object of the present invention to provide a stepping motor having very high torque output; the torque output being in some instances more than an order of magnitude increased over that of a similarly sized prior art stepping motor.

A further object of the present invention is to provide a stepping motor'having a high output torque per unit of rotor inertia.

Another object of the present invention is to provide a stepping motor wherein mechanical energy is stored in a torsional shaft member during part of an operating cycle.

An additional object of the present invention is to provide a stepping motor wherein a portion of the output motion approximates simple harmonic motion.

A further object of the present invention is to provide a low cost stepping motor.

A further object of the present invention is to provide a double rotor stepping motor wherein the maximum torque generated by a first one of the rotors directly adds to the maximum torque generated by the second rotor even though the first and second rotors are rotationally displaced from each other on a common shaft and are not simultaneously engaged by stator members.

A further object of the present invention is to provide a stepping motor having large starting torque.

Still another object of the present invention is to provide a stepping motor that adds starting torque capability to the desirable properties of high torque and small physical size found in a rotary magnetic exciter.

Still an additional object of the present invention is to provide a stepping motor wherein a load having both friction and inertia components has its inertia component driven by a mathematically predictable resilient member and its friction component driven by a motor force.

Still a further object of the present invention is to provide a stepping motor having highly accurate rotational position detents.

Still an additional object of the present invention is to provide in combination with a special exciter apparatus a torsional stepping motor wherein mechanical energy may be efficiently stored and transferred between portions of the motor via a torsional resilient element.

Still a further object of the present invention is to provide in combination with an electrical circuit a torsional stepping motor wherein the release of a rotor member from magnetic engagement with a stator member occurs within a small fraction of the time required for one cycle of mechanical oscillation in the rotor and torsional element combination.

Still another object of the present invention is to provide a method for actuating a torsional stepping motor.

And a final object of the present invention is to provide a stepping motor wherein incremental motion of the rotor portion thereof results from the combination of energy stored in a torsionally resilient shaft and energy transferred during magnetic tooth attraction within the motor.

Additional advantages and features of the present invention will become apparent and fully understood from a reading of the following description taken together with the annexed drawings.

BRIEF DESCRIPTION OF THE DRAWINGS In the drawings attached to the present specification:

FIG. 1 is a cross sectional view of a stepping motor made according to the present invention;

FIG. 2 is an end view taken from the right hand side of the motor shown in FIG. 1;

FIG. 3 (including views 3A to 3F) is a diagrammatic view of a stepping motor made according to the present invention and showing several rotor-stator relationships occurring during stepping action thereof;

FIG. 4 is a perspective view of another stepping motor made according to the present invention;

FIG. 5 is an exploded view of the FIG. 4 stepping motor;

FIG. 6 (including parts 6A and 6B) is a cross sectional and side view of a third stepping motor made according to the present invention;

FIG. 7 (including views 7A to 7B) is a first electrical schematic and waveform diagram describing an excitation circuit for stepping motors made according to the present invention;

FIG. 8 (including views 8A and 8B) is a second electrical schematic and waveform diagram describing an excitation circuit for stepping motors made according to the present invention;

FIG. 9 (including views 9A, 9B, and 9C) is an electrical schematic and waveform diagram describing a logical timing circuit for exciting a stepping motor made according to the present invention;

FIG. 10 (on the sheet with FIGS. 6A and 6B) and including views 10A, 10B, and 10C) is an electrical schematic and waveform diagram showing detailed operation of the circuitry shown in FIGS. 7 and 8;

FIG. 11 is a cross sectional diagrammatic view of a third stepping motor made according to the present invention;

FIG. 12 is a diagrammatic view of a fourth stepping motor made according to the present invention; and

FIG. 13 is a diagrammatic view of a fifth stepping motor made according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION INTRODUCTION One embodiment of a stepping motor made accord ing to the present invention provides an output torque of 90 inch-pounds (1440 inch-ounces) while occupying substantially the same volume of space as the best available prior art stepping motor providing an output torque of 50 inch-ounces. The larger torque of the present invention stepping motor results from efficient magnetic engagement of 40 rotor-stator pole pairs in the stepping motor, as compared with only four rotorstator pole pairs in the conventional motor, along with the addition of torque from two rotors at the stepping motor output shaft of the present motor. Since the present invention motorgene'rates starting torque without the incorporation of rotor poles that are energized in a sequence of different time phases, the torque-toinertia ratio of the present motor compares favorably with that of prior art stepping motors.

The structural elements needed to achieve the performance of the present torsional stepping motor are known in the prior magnetic and torsional pendulum arts; however, a successful combination of these structural elements into a practical torsional stepping motor has been absent because of the large loses of mechanical energy that have prevailed when magnetic flux was manipulated in an attempted stepping motor; mechanical energy loss; occurring when an engaged stepping motor rotor is released by slowly decaying magnetic flux, has been especially difficult to overcome, and this loss has obscured the performance benefits possible from an energy transferring torsionally resilient stepping motor apparatus.

Since the mechanical structure for transferring energy between portions of a torsional stepping motor, the electrical circuitry for initiating this transfer, and the method of cooperatively operating the mechanical structure and electrical circuitry are all important aspects of the present invention, the detailed description of the invention in this specification includes sections devoted to mechanical description of the invention, electrical description of the invention, and energy transfer description of the invention; the attached claims also concern each of these three areas of the invention.

In describing the present invention, the name stepping motor could properly be applied to either that apparatus located at one end of the torsionally resilient coupling member, (including a rotor, a stator, electrical windings, bearings, etc.) or to the complete assembly' including two or more rotors, two or more stators, two or more sets of electrical windings and a torsionally resilient element. In the following specification, the phrase stepping motor is primarily used to describe that apparatus which includes a torsionally resilient element and two or more rotor-stator assemblies; in the claims portion of the application adherence to this convention is somewhat relaxed with the claim language being self explanatory. Where the name stepping motor is reserved for the combination of two or more magnetic devices with a torsionally resilient element, the name magnetic exciteror energy transducer or incremental motion rotary magnetic exciter or the names rotor member and stator member are employed to indicate the apparatus located at the ends of the torsionally resilient element.

MECHANICAL DESCRIPTION In FIGS. 1 and 2 of the drawings, there are shown two views, a sectional view and an end view of a stepping motor constructed according to the present invention; in FIGS. 1 and 2 the motor is carried on mounting plates 12 and 14 secured to a cylindrical motor housing 16, which housing separates rotor-stator assemblies i8 and 20 and provides support therefor. Rotor-stator assembly 18 comprises a pair of stator halves 22 and 24 circumferentially enclosing a rotor 26 secured to one end of a torsion shaft 30. Assembly 20 comprises a pair of stator halves 32 and 34 enclosing a rotor 36 that is secured to the other end of the shaft 30. The shaft 30 is joumaled in bearings such as ball bearings and 46 supported from bearing housings 47 and 48, respectively, the housings forming the ends of the motor. Stator halves 24 and 32 are secured to the motor housing 16 by any convenient means such as the screws 49; stator halves 22 and 34 are, in turn, secured to stator halves 24 and 32, respectively, by some convenient means such as cap screws 50 aided in alignment of the parts with dowel pins 51. The bearings 45 and 46 may be suitably retained in the housings 47 and 48 by means of clips 52 and 53.

The rotor-stator assemblies 18 and 20 in the FIGS. 1 and 2 motors are magnetic exciter units, having a single time phase electrical circuit and a single time phase magnetic circuit. The FIGS. 1 and 2 motors include a coil 60 contained by stator halves 22 and 24, and a coil 61 contained by stator halves 32 and 34, the stator halves 22 and 24 being separated at their pole face ends by an air gap 62 with stator halves 32 and 34 having a like air gap 63. In the FIGS. 1 and 2 motors, each rotor is provided with 24 equally spaced rotor teeth on the outer periphery thereof to match with 24 companion stator teeth on the inner periphery of the associated stator. The 24 teeth rotor-stator construction (as labeled by the 24 alphabet letter designations a, b, 0,

through v, w, x in.FIG. 2) provides an angular spacing of 15 between teeth; other constructions of motors according to the present invention may, for example, in-

clude 64 teeth with aspacing of five and a fraction degrees or may include any whole number of teeth.

The magnetic flux path for the rotor and stator halves at the end of the motor where output shaft 28 is located consists of a circular path that includes stator half 24 the air gap between stator half 24 and rotor 26, therotor 26 itself,-the air gap between rotor 26 and stator half 22 .and stator half 22 itself. A given stator half, such as stator half 24, assumes a single magnetic polarity, for example North, throughout its periphery during motor actuation, there being no division of stator teeth into alternating North and South poles as in other stepping motor embodiments. Each coil such as coils 60 and 61 in the FIGS. 1 and 2 motor comprises a single electrical circuit with a number of wire turns; the coils are located in the recessed space provided in the stator halves, the ends of the coil being brought out in the form of lead wires and 71 and connected to a terminal block 72 in the FIGS. 1 and 2 motor. An exciter apparatus such as that described in FIGS. 7B, 8B, 9A, 9B, 9C and 10A of the drawings is shown and identified with the number in FIG. 2, this exciter apparatus being connected by lead wires 73 and 74 to the motor of FIG. 2.

FIGS. 3A to 3F of the drawings show a sequence of operation involving the capturing, holding, and releasing of motor rotors by the stators during stepping operation of a motor which is constructed according to the present invention. FIG. 3A shows an initial or quiescent condition of the motor in a position wherein the teeth of rotor 26 at shaft end 28 are aligned with the teeth of stator halves 22 and 24; in the FIG. 3 views of the motor the numbers 22 and 24 designate both halves of the complete stator located at the shaft end 28 of the motor, these halves being represented by the single stator indicated at 22, 24. At the time when the teeth of rotor 26 at shaft end 28 are aligned with the teeth of stator 22, 24, the teeth of rotor 36 at shaft end 38 are misaligned by substantially one-half of a step position or 180 electrical degrees so that the teeth of stator 32, 34 as seen by tooth a of rotor 36 is located between tooth a and tooth x of stator 32, 34; the misaligned condition being manually established during assembly of the motor with the aid of equipment such as an assembly jig and locating pin means.

When power is applied to the coil 60 of the motor in FIG. 3A, the teeth of rotor 26 are held in the illustrated position, aligned with the teeth of stator 22, 24 in a capturing manner and the torsion shaft 30 is in a relaxed state. After coil 60 is first energized, power is later applied to coil 61 and the teeth of rotor 36 are attracted to and become aligned with the teeth of stator 32, 34, in a capturing manner as seen in FIG. 3B; tooth a being aligned with tooth a, tooth x with x, etc. In the FIG. 3B illustration of the motor wherein both coils 60 and 61 of the motor are energized, the torsion shaft 30 is in a wound-up or twisted condition. In this position, the motor is ready for its first stepping motion.

Stepping motion may be commenced in the FIG. 38 motor by de-energizing either coil 60 or coil 61 to release the distorted torsion shaft 30 from its wound-up status. If coil 60 is released, the rotor 26 starts rotating clockwise with its teeth moving away from the matching teeth of the stators 22, 24 as the shaft 30 unwinds, as shown in FIG. 3C. At some point after the centerline of a rotor 26 tooth moves near or past the centerline between teeth of stator 22, 24 (FIG. 3C), the coil 60 may again be energized so that magnetic force between rotor and stator attracts the teeth of rotor 26 to the next set of stator 22, 24 teeth. Following the attraction as seen in FIG. 3D, rotor 26 tooth a becomes locked in alignment with stator tooth b, rotor tooth x with stator tooth a, and rotor tooth w with stator tooth x. During this movement into the new position commencing with de-energization of coil 60, the wound-up condition of the torsion shaft 30 is relaxed as the shaft end 28 accelerates in a clockwise direction; when the shaft end 28 has rotated to the point where a tooth of rotor 26 moves past the centerline between teeth of the stators 22, 24, the shaft end 28 begins decelerating by reason of the shaft again going into a twisted or wound-up condition. Depending upon the type of loading impressed upon the motor and the speed of motor operation, coil 60 may be re-energized at a point near the time when the centerline of a rotor 26 tooth is aligned with the centerline between teeth of stators 22, 24 or at a point when the centerline of a rotor 26 tooth has become almost perfectly aligned with the centerline of a stator 22, 24 tooth.

Following rotation of the rotor 26 into the new aligned position, the opposite coil, coil 61 is deenergized and the distorted torsion shaft 30 is again released bringing about a condition where the teeth on rotor 36 move in a clockwise direction relative to the stator 32, 34 as the torsion shaft 30 unwinds. Again, at some point near or after the centerline of teeth on rotor 36 move past the centerline between teeth on stator 32, 34, as shown in FIG. 3E, coil 61 is re-energized and magnetic attraction causes the teeth of rotor 36 to lock on the next adjacent stator teeth, as seen in FIG. 3F. With tooth a of rotor 36 being aligned with tooth b of stator 32, 34 and the successive teeth aligned as shown, the torsion shaft 30 is wound up again and the output end 28 of the shaft 30 is ready for the next stepping action. The alternate application of power to the coils 60 and 61, to obtain acceleration and deceleration of the shaft ends and rotors into the next tooth position with the resulting torque being built-up and then released within the shaft, accomplishes a stepping action at the shaft output end. If a point near the center of torsion shaft 30 is considered as a reference, the motion of the motor may be compared to the act of a person walking, since the motor motion consists of a first rotor being held immobilized while the second rotor is advanced from a lagging to a leading position followed by the second rotor being held immobilized while the first rotor is advanced from a lagging to a leading position. The sequence of capturing, holding, and releasing the rotor by means of energizing and de-energizing the respective electrical coils provides for energy storage in the torsion shaft 30 as is explained later in this specification. The acceleration, deceleration, and locking action of a motor built according to the invention are sure and positive by reason of every rotor tooth being aligned with a respective stator tooth while the motor is in an energized condition. The motor is capable of producing a large output torque per unit of rotor inertia since every rotor tooth is acted upon by magnetic flux and no rotor teeth are inactive or reserved for use in a later time phase or in starting the motor. The torque-toinertia ratio is large for the motor because the rotor magnetic flux is largely confined to the rotor teeth area and need not enter the central region of the rotor which may therefore be made very small and light in weight.

ENERGY RELATIONSHIPS DESCRIPTION Previous attempts to combine two incremental motion rotary magnetic exciters and a torsional element have not been successful primarily because the energy losses in the incremental motion rotary magnetic exciters, located at the torsional element ends, were relatively large with respect to the quantity of energy which could be stored by the torsional member; the large energy losses thereby serving to effectively mask the energy storage benefits which are possible in such a combination. In working with the embodiments of the present invention, it has been found that the possible sources of energy loss in the motor are so large as to make the amount of energy storable in the torsional member insignificant and impotent with respect to motor operation if special energy conservation provisions are not made. A major portion of the notable success of the present invention motor can be attributed both to an early realization of the magnitude these energy loss mechanisms can assume, and to an approach that was found for curtailing energy losses in two areas of the motor. In the present part of this specification, the energy loss mechanisms are described along with preferred embodiment descriptions of the apparatus overcoming these energy losses; this section of the specification also includes an operating description of the motor in terms of the energy flow into, within, and out of the motor.

In describing FIG. 3C of the drawings in the preceding mechanical portion of the specification, it was mentioned that electrical excitation for coil 60 is removed at one point in the motor oprating cycle in order to permit the wound-up torsion shaft member 30 to relax and thereby accelerate rotor 26 in the clock-wise direction indicated by arrow 27. From an energy viewpoint, this acceleration of rotor 26 involves transferring a quantity of potential energy from the rotationally distorted torsion shaft member 30 into the rotor 26 where the energy is converted into kinetic energy that is vested in motion of the rotating mass of rotor 26. In essence, the potential energy stored in torsional shaft member 30 is converted into kinetic energy which moves rotor 26 over a period of time during the interval following release of rotor 26 by coil 60. The efficiency with which energy stored in torsional shaft member 30 can be converted into kinetic energy in rotor 26 is important in motors made according to the present invention for several reasons:

1. With efficient energy transfer, the energy available at output shaft 28 end of the motor is not limited to that quantity which may be transmitted into the motor via coil 60 but may also include energy transmitted into the motor via coil 61; the use of two input coils having advantages insofar as motor inertia, heat dissipation, magnetic saturation and coil electrical time constants are concerned.

2. When energy can be efficiently stored and transmitted between rotors of the motor, as shown in FIG; 3, it is unnecessary to provide for the generation of starting torque in either of the rotary magnetic exciters of the stepping motor; the freedom from rotor poles that are needed only for starting torque generation allows the motor to have lower rotational inertia and also provides for higher output torque in a given physical motor size since all of the included motor poles are uti lized for torque generation and no poles are reserved for use-in sequential time phases of motor operation. The combination of rotor 26 and rotor 36 also adds useful load driving torque to the output available from the motor shaft 28. In other words, with efficient energy transmission via torsion shaft member 30, rotor 36 adds both starting torque capability and work driving torque to the characteristics of rotor 26.

3. If energy can be efficiently transmitted via torsion shaft member 30, the output torque at shaft end 28 of the FIG. 3 motor is mathematically predictable with precise accuracy for at least one portion of the operating cycle of the motor. During the operating cycle portion when rotation of shaft end 28 is induced by the unwinding of torsional shaft member 30, the output torque available from shaft end 28 is entirely controlled by resilient characteristics of the torsion shaft member 30 and the motors internal inertia; since these characteristics may be precisely measured or calculated from the properties of the shaft and rotor, the motor output torque is predictable with precision for at least this torsion shaft driven portion of the operating cycle.

4. If energy can be efficiently transmitted between rotor 36 and rotor 26 via torsion shaft member 30, then a combination of friction and inertia load applied at 1 iii shaft end 28 may be considered as having its inertia portion driven by torque from the torsional shaft member 30, and its frictional component driven by rotor 26; although this division of load driving torques is something less than mathematically rigorous, it is important in some practical stiuations since it may be possible to regard torque from the torsion shaft member 30 as having accelerated the load at shaft end 28 up to some rotational velocity before magnetic torque from rotor 26 is applied. The sequential appearance, at shaft end 28, of a known predictable spring torque followed by a magnetically derived motor torque may allow desirable mathematical calculation of load performance in some motor applications.

5. If energy can be efficiently transmitted between rotor 36 and rotor 26 via torsion shaft member 30, then reversal of the motor rotation direction involves only selecting between first releasing motor 36 and first releasing rotor 26 when the torsion shaft 30 is in the distorted condition shown in FIG. 3B of the drawings. In a business machine application of the motor, for instance, direction reversal of the motor involves nothing more than logic signal manipulation to select which of coils and 61 is first de-energized following the storage of potential energy in torsion shaft member 30.

The efficient transmission of energy from rotor 36 to rotor 26 via torsion shaft member 30 is found to involve two classes of energy loss mechanisms. The first of these loss mechanisms is attributed to molecular friction or torsional hysteresis within the torsion shaft member 30 itself. This torsional hysteresis is similar in nature to the major energy loss mechanism which prevents a steel ball bearing, when dropped from a height of six feet to a concrete floor, from bouncing higher than five and a fraction feet upon the first bounce. If there were no mechanical hysteresis (or windage or other energy loss mechanisms) acting on the ball, all of the kinetic energy vested in the ball bearing just prior to impact with the concrete floor would be returned to the ball and it would be driven to the original point of departure during rebound. In the torsional shaft member 30 of FIG. 3, if there were no molecular friction and mechanical hysteresis losses in the torsion shaft member 30, (and no wind losses present) then the energy imparted into torsion shaft member 30 by a mechanical twisting of rotor 36 through an arc of 9 would rotate rotor 26 through an identical arc of nine degrees upon rotor 26 being released from a hold position. The presence of molecular friction and mechanical hysteresis in even the best of the practically available materials for torsion shaft member 30, precludes a nine degree rotation of rotor 36 from inducing a nine degree rotation in rotor 26.

In the present invention,- it has been found desirable to use a special class of materials in the fabrication of torsion shaft member 30 to minimize the losses from molecular friction and mechanical hysteresis in the motor; among the materials which have been found successful for this fabrication is the family of steels which are known as electrode type steels and especially the steel which is known as American Iron and Steel Institute No. 52100 (AISI 52100) ball bearing steel. When AISI 52100 ball bearing steel is employed, it has been found that a torsion shaft member 30 having a length to diameter ratio near 16 to 1 is satisfactory from both an energy loss and from a fatigue resistance view-point when employed in a stepping motor having nine degree step incremens.

Other materials have been successfully employed for fabricating a satisfactory torsion shaft member 30 in some applications; among these materials are the alloys of titanium and the alloys of aluminum, such as those employed in mechanical tuning forks. Aluminum alloys have some disadvantages for the torsion application, in that they have a relatively low torsional fatigue stress; on the other hand, titanium alloys may permit a lower length to diameter ratio for the torsion shaft member 30. a

So long as theenergy losses from molecular friction and mechanical hysteresis are maintained within desirable limits, other materials and other shapes for the torsion shaft member 30 may be practical in some uses of the motor; for instance, the torsion shaft member 30 may be replaced with a coil spring or with an organic resilient member or by some combination of a leaf spring or straight-pull coil spring and a lever mechanism.

The second class of energy loss mechanism involved in transmitting energy from rotor 26 to rotor 36 via torsion shaft member 30 involves the events surrounding the release of rotor 26 from magnetic engagement with stator 22, 24, when coil 60 is de-energized. It has been found that three energy loss events are active during rotor release, that is while the magnetic flux coupling rotor tooth x to stator tooth x in FIG. 3B of the drawings, is being removed from the motor, two of these energy loss events involving magnetic hysteresis and electrical eddy currents which are known in the electrical machinery art. In the present invention, it is believed that most of the energy dissipated by magnetic hysteresis and electrical eddy current at de-energization of coil 60 comes from the electrical inductance of coil 60 and that only a small fraction of such loss is supplied by energy stored within the torsion shaft member 30. The third energy loss event which is active upon deexcitation of coil 60 in FIG. 3B arises from generator action occurring when the distorted torsionally resilient shaft 30 unwinds following release of rotor 26 by a slowly decreasing magnetic field, the magnetic field decrease in an inductive circuit being inherently relatively slow with respect to the mechanical time constant of the torsionally resilient shaft and its inertia load. The third energy loss event may be explained by examining the components shown in FIG. 3B. Prior to the release of rotor 26 by coil 60, the torsion shaft member 30 is wound up or distorted and rotor tooth w on rotor 26 is aligned with stator tooth w of stator 22, 24; in this condition the torque from torsion shaft member 30 is opposed by torque from the magnetic flux coupling between aligned rotor and stator teeth. At some time after energization is removed from coil 60, the magnetic flux holding rotor 26 stationary against the torsional force from torsion shaft member 30 will have decreased to a sufficient degree that the torque from torsion shaft member 30 is greater than the magnetic torque exerted on rotor 26, and while in this condition rotor 26 will begin to rotate. Since the magnetic flux, remaining after rotation of rotor 26 commences, does not decay instantaneously, but rather over an appreciable period of time, a time that is measured in milliseconds and is a function of the electrical inductance of coil 60, the initial rotation or rotor 26 is not free but is restrained by the remaining magnetic flux between rotor 26 and stator 22, 24. Even though the magnetic flux established by coil continues to decrease as rotor 26 continues to move, the time which elapses before the moving rotor 26 is completely free of magnetic flux retardation may be quite long, even longer than the time required for torsion shaft member 30 to rotate rotor 26 through a full tooth position. In many cases, therefore, it can be stated that the entire motion of rotor 26, between successive tooth-aligned positions, is rotation which is retarded by the decaying magnetic flux from coil 60, where precautions are not observed to quickly remove the magnetic flux established by coil 60 from the motor.

It might be said that the decaying flux from coil 60 has only a delaying effect upon the rotation of rotor 26 since the torsion shaft member 30 is capable of storing potential energy for any time period and will in fact store its retained potential energy until the restraining force from the magnetic flux has decreased sufficiently to allow the rotor to proceed with its rotation; in other words it could be asserted that rotation of rotor 26 does not in fact occur until the magnetic flux has decayed to a sufficient degree. In lieu of the decaying flux from coil 60 merely delaying rotation of rotor 26, however, it is found that this flux actually absorbs a significant fraction of the potential energy stored in torsion shaft member 30 and serves as a means for conducting this potential energy out of the motor structure and into electrical resistances and other loss mechanisms. The energy removing ability of the decaying magnetic flux may be appreciated by realizing that any movement of rotor 26 by torsion shaft member 30 that does not result in increasing the velocity of rotor 26 represents potential energy within the torsional shaft member 30 being lost and not converted into kinetic energy vested in rotor 26, that is, if rotor 26, during the unwinding of torsion shaft member 30, moves between two points A and B without realizing an increase in rotor velocity, then potential energy is being lost from the motor.

To preserve the potential energy that is stored within torsion shaft member 30 for desirable uses within the motor and its mechanical load, and to prevent loss of this potential energy, by way of magnetic flux coupling with the moving rotor, it is necessary that the magnetic flux from coil 60 be removed as quickly as possible once the coil 60 is separated from its source of driving energy; that is, an instantaneous decay of the flux established by coil 60 is desirable.

Rapid removal of the magnetic flux established by coil 60 involves treating two components of flux; one of these components relates to the energy stored in the air gap of the motor between rotor 26 and stators 22, 24; that is, coil 60 being an electrical inductance has magnetically stored within its air gap a quantity of energy which may be expressed according to the mathematical formula E L1 where E represents Energy, L represents inductance and 1 represents current flowing in inductance L. According to magnetic theory, this energy is stored in the air gap of the inductance or in the flux threading between rotor and stator poles of the motor. Removal of the flux associated with the mag netic inductance of coil 60 therefore involves removing from the magnetic circuit a quantity of energy by way of an electrical dissipating element connected to the terminals of coil 60.

In addition to the magnetic flux resulting from energy stored in the inductance of coil 60, there is also a component of flux linking rotor 26 with stator 22, 24, which is based upon residual magnetism within the ferromagnetic structure of rotor 26 and stator 22, 24. This residual magnetism component of flux can be described by referring to FIG. 16C of the drawings.

In FIG. 16C there is shown a set of coordinate axes 457 and 459, representing respectively flux density B and magneto-motive force H; on these coordinate axes there is impressed a magnetic hysteresis curve of the type that is descriptive of a ferro-magnetic structure such as rotor 26 and stator 22, 24. In the curve of FIG. 10C, the point labelled 461 might represent the operating condition of the ferro-magnetic structure of the motor shown in FIG. 3C during energized excitation of coil 66; upon removal of energization from coil 60 in FIG. BC, the flux in the magnetic structure would relax back to the point 463 in FIG. 10C. At the point 463, there is zero magneto-motive force (H=) applied to the motor structure. Even though there is zero magneto-motive force applied to the ferromagnetic structure at point 463 in FIG. C, there is yet remaining a considerable quantity of magnetic flux in the magnetic structure of the motor, as is represented by the vertical distance between the coordinate axis origin and the point 463, the distance identified as 462 in FIG. 10C. Removal of the magnetic flux represented by the point 463 of FIG. 10C, requires that some reverse magnetomotive force be applied to coil 60.. The necessary reverse magneto-motive force is identified by distance 465 along the H axis of FIG. 10C. Upon application of the reverse magneto-motive force represented by the distance 465, the flux within the magnetic structure of the motor will fall to the point labelled 467 in FIG. 10C. Point 467 represents a flux density near zero, zero flux density being that value which will provide negligible restraining force against the motion of rotor 26 by torsion shaft member 30.

A complete removal of the magnetic flux which links rotor and stator members of the stepping motor in FIG. 3 requires that both the residual magnetism component of the flux and the electrical inductance energy related component of the flux be considered and that the sum total of these components be reduced to zero magnitude as quickly as possible following removal of energization from the coil 60 or 61. One electrical circuit capable of performing both the inductance energy removal from coil 60 or 61 and the reverse magnetomotive force excitation of coil 60 or 611 and performing these events in rapid automatic sequence is described in the electrical description section of this specification.

When the motor of FIG. 3 is operated in a manner that permits efficient energy transfer from one rotor to the other rotor by way of energy storage in the torsion shaft, operation of the motor may be described in terms of energy flows as follows:

FIG. 3, including views 3A through 3F, is used again in describing stepping motor energy flow. In FIG. 3A, a motor is shown with rotor 26 magnetically engaged with stator 22, 24 and with coil 60 energized to maintain the rotor-stator engagement. Rotor 36, in FIG. 3A, is shown with the rotor teeth being mis-aligned with the stator teeth by one-half of a stepping position or by 186 electrical degrees; in this condition coil 61 is deenergized and torsion shaft 36 is relaxed. If electrical energy is applied to coil 61 so that magnetic flux is established therein, rotor 36 is caused torotate into the position shown in FIG. 38, wherein its teeth are also aligned with the teeth of its adjacent stator 32, 34. During this alignment process, a portion of the electrical energy supplied to coil 61 is transduced by the incremental motion rotary exciter which includes stator 32, 34l,'and rotor 36 into mechanical energy and this mechanical energy is stored in the form of potential energy within the torsion shaft member 30. In other words, a portion of the electrical energy supplied to coil 61 is transduced into rotational mechanical energy vested in rotor 36 and from thence into potential mechanical energy vested in the opposing resilient force of torsion shaft member 30. As the motor is shown in FIG. 3B, the potential energy stored within torsion shaft member 36 is ready for release at one of the motor rotors; this release occurs in the events depicted in FIG. 3C of the drawing wherein the rotor 26 has been released by removing excitation from coil 60 and the potential energy stored within torsion shaft member 30 is accelerating rotor 26 in the clockwise direction, indicated by arrow 27. The acceleration of rotor 26 from an energy viewpoint amounts to potential energy within torsional shaft member 30 being transferred into rotor 26 in the form of kinetic energy.

When rotor 26 reaches the point of rotation indicated in FIG. 3C, wherein a center line of the rotor poles is aligned with the center line between stator poles, all of the potential energy stored within torsion shaft member 30 has been removed therefrom and is now vested in rotor 26 in the form of kinetic energy. The kinetic energy of rotor 26 tends to carry rotor 26 into a succeeding pole aligned condition as shown in FIG. 3D of the drawings. Since the energy transfer from torsion shaft member 30 into rotor 26 is less than percent efficient, and since there are energy losses in the motor and its load, the kinetic energy vested in rotor 26 is not capable of carrying rotor 26 into the fully aligned succeeding step position shown in FIG. 3D but is only capable of carrying it near to this perfectly aligned position. At some point after the rotor has reached the position shown in FIG. 3C of the drawing, or even slightly before the rotor reaches the position of FIG. 3C, coil 60 is again energized and an additional quantity of energy is thereby transduced into rotor 26 to carry it into the perfectly aligned position shown in FIG. 3D. Both the kinetic energy which carried rotor 26 away from the misaligned position of FIG. 3C to ward the aligned position of FIG. 3D, and a portion of the energy added to the rotor 26 via coil 60 as the rotor 26 neared the perfectly aligned position, are stored in torsion shaft member 36 while the motor is in the condition shown in FIG. 3D; that is, the torsion shaft member 30 in FIG. 3D contains both a quantity of energy derived from rotor 36 and an'additional quantity of energy added via coil 66 and rotor 26. In this condition, as shown in FIG. 3D, the torsion shaft member 30 is again prepared for the release of a rotor being vested with the potential energy which will induce rotation of a released rotor.

Since the quantity of energy stored in torsion shaft member 36 in FIG. 3D is substantially the same quantity of energy as was stored in torsion shaft member 30 in FIG. 38, it is clear that the energy which was supplied via coil 60 in moving rotor 26 into alignment as shown in FIG. 3B is essentially that quantity of energy needed to overcome energy losses in the motor and its load, that is, the kinetic energy of rotor 26 is supplemental to the extent needed to rotate rotor 26 against torque from the torsion shaft member 30 into the aligned condition of FIG. 3D by energy supplied from coil 60. Rotation of rotor 26 from the position shown in FIG. 3B to the position shown in FIG. 3D may be compared with the action of a torsional pendulum wherein the potential energy stored in a torsion shaft is converted into kinetic energy of a rotating mass. The motor of FIG. 3 supplements the torsional pendulum concept by adding a quantity of energy with each torsional oscillation that is sufficient to maintain a constant aptitude of torsional oscillation in the motor rotors.

In FIG. 3E of the drawings, the potential energy which was stored in torsion shaft member 30 in the FIG. 3D drawing has been released by de-energizing coil 61 and is being transferred into rotor 36; as rotor 36 approaches the condition shown in FIG. 3F, coil 61 may again be energized to supply an additional quantity of energy to the torsion shaft 30 and carry rotor 36 into the fully aligned position of FIG. 3F.

The best moment for re-energizing coils 60 and 61 during the rotor movement conditions of FIGS. 3C and 3E is dependent upon several factors including the type of load impressed on the motor, the motor operating speed, the type of electrical driving circuit used to excite coil 60, and the mechanical and electrical time constants of the motor. It is clear that once the moving rotor 26 approaches the position shown in FIG. 3C (the position of 180 electrical degrees mis-alignment of rotor and stator), with the rotor moving and vested with kinetic energy, that flux from coil 60 may be applied without danger of drawing rotor 26 back into the preceding alignment condition of FIG. 3B, since the inertia of rotor 26 will carry it into the succeeding step position shown in FIG. 3D. It is also true, however, that premature application of flux from coil 60, before rotor 26 reaches the 180 electrical degrees mis-alignment position, will retard the motion of rotor 26 and will be inefficient from an energy viewpoint; such premature flux application can also result in rough and noisy operation of the motor.

Depending on the amount of frictional and inertia loading impressed on the motor, the time delay between coil excitation and flux establishment and several other factors, coil 60 in one extreme will be reenergized very late in the rotation of rotor 26 so that flux from coil 60 essentially does little more than lock rotor 26 in its attained position of alignment as shown in FIG. 3D, whereas in the other extreme condition, coil 60 will be re-energized as the rotor nears the 180 electrical degrees mis-alignment position so that energy is supplied to rotor 26 over a longer period of time. In any event, it is desirable that coil 60 be re-energized at such a rate and with such peak value of energization that there not be a grossly excessive amount of kinetic energy vested in rotor 26 at the time it reaches the condition of perfect alignment shown in FIG. 3D. If rotor 26 has a grossly excessive amount of kinetic energy over and above that quantity needed to rotate into the aligned condition of FIG. 3D, the excess energy will be dissipated in the form of mechanical oscillations of rotor 26 about the aligned position of FIG. 3D and will be dissipated in the form of heat in the ferromagnetic parts and the electrical exciting circuitry of the motor since oscillations about an aligned condition, as in FIG. 3D, induce large flux changes and large voltage changes in winding 60. The energy flow path coupling rotor 26 and external electrical dissipation elements is described in the electrical portion of this specification.

In summarizing the energy description of a stepping motor made according to the following invention, it may be said that the motor applies an elaborate sequence of excitation steps to control energy flow into and out of coils and 61 in order that the relatively small quantity of mechanical potential energy stored in torsion shaft member 30 may be preserved and usefully employed. Since the steps performed to quickly release rotors 26 and 36 from the magnetic flux of coils 60 and 61 are in themselves wasteful and dissipative of energy, as is explained in the next topic of this specication, the overall energy efficiency of a motor made according to the present invention is not high; that is, the motor of this invention, in an attempt to preserve the needed and useful small quantity of torsional shaft member energy iswasteful of larger quantities of electrical energy. In many motor applications, it has been found that overall efficiency is a secondary consideration as compared with the desirable operating performance.

Throughout the specification and claims of the present application for letters patent, several names are employed in referring to components of the stepping motor; the torsion shaft member is for instance variously called the torsion shaft, the torsion shaft member, and the torsionally resilient coupling member; in similar fashion, the energy transducer devices located at each end of the torsion shaft member are variously called incremental motion rotary magnetic exciters, roatary exciters, stepping motors and electrical to mechanical energy transducer In similar fashion, the electrical windings which magnetically energize the torsionally resilient coupling member are variously called coils, windings, electrical windings, and turns.

ELECTRICAL DESCRIPTION In FIG. 10A of the drawings there is shown an electrical circuit which may be employed to energize the incremental motion rotary magnetic exciter located at one end of the torsion shaft member 30 shown in FIG. 3 of the drawings. In the FIG. 10A circuitry, the electrical winding 411 corresponds to one of the exciter coils 60 and 61 of the FIG. 3 drawing.

The circuitry of FIG. 10A includes electrical winding 411, connected with two electrical inductance coils 399 and 431, and two electrical switching elements such as transistors 407 and 439, a source of electrical energy 427 which is connected via terminals 395, 425 and ground terminals 409 and 410 to the transistors 407 and 439 and to electrical resistance elements 397 and 429. The transistor devices 407 and 439 in FIG. 10A are controlled as to their ON or OFF state by signals applied to the base electrodes via terminals 473 and 441.

FIG. 10B of the drawings shows an electrical waveform such as may be encountered during transient operation of transistor 407 or 439 in FIG. 10A; the waveform of FIG. 10B consisting of a period of rising voltage 443, a period of stable voltage 447 and a period of falling voltage 449 together with time indications as to the duration of significant portions of the waveform at 451 and 453.

FIG. 10C of the drawings, which was described earlier in this specification, represents a magnetic hysteresis curve such as may exist for the ferromagnetic structure associated with the incremental motion rotary magnetic exciter electrical winding 411 in FIG. A.

The manner in which the circuitry of FIG. 10A causes the ferromagnetic structure associated with winding 411 to be excited and to undergo a rapid decrease in magnetic flux coupling once de-energized may be described in terms of the electrical energy relationships that are well known for an electrical inductance coil. This description is conveniently commenced by assuming that the circuit of FIG. 10A was excited at some previous time and has been allowed to remain in the steady state excited condition until all currents and voltages appearing therein are stabilized. In this steady state, stabilized condition with transistor O1, 407 in the conducting state, and transistor 02, 439, in the nonconducting state, a current labelled I; and flowing as indicated by arrow 421 will pass through resistor 429, inductance coil 431, winding 411, and transistor 407. Typically for one embodiment of the invention, the current I, may be in the order of five amperes where voltage 427 is in the order of plus 48 volts, the inductance of winding 411 is near three millihenrys, the inductance of coils 399 and 431 is near thirty millihenrys and the resistance of resistors 397 and 429 is a value between zero andeight ohms. Resistors 397 and 429 are given such value as will limit the steady state current in the inductance coils 399 and 431 to a predetermined amplitude.

With the steady state current I, flowing in the FIG. 10A circuit, the voltage developed across inductance coil 431 has the polarity shown by the plus and minus signs 433 and 435 respectively with the top end terminal of inductance 431 eing positive with respect to the bottom end terminal. In the'case of coil 411, the right hand end terminal is positive with respect to the left hand end terminal as shown by the plus sign 415 and the minus sign.4l3. Durlng the steady state interval, a current is also established in inductance coil 399 and resistor 397, this current is labelled I and is indicated by the arrow 423 in FIG. 10A. Both the current I and the current l flow into circuit node 405 and thence into the switching element represented by transistor 407 and thence to the ground terminal 409; in other words, a total steady state current of ten amperes flows in the electrical switching element 407 for the FIG. 10 embodiment of the invention. The steady state current condition for the circuit of FIG. 10A represents that condition which exists when the rotor associated with winding 411 is being held in magnetic engagement with the associated stator, this steady state condition being also similar to the condition existing when a rotor is being re-attracted to a position of stator engagement following a release and movement of the rotor. The events following a steady state rotor holding consist of turning OFF the switching element which has been ON, i.e. transistor 01, 407 and turning ON the opposite switching element; i.e. transistor O2, 439; wherein, in the FIG. 10A circuitry, this produces the effects described as follows.-

When the electrical switching element transistor O2, 439 is turned ON, the steady state current l 42l is diverted from the path flowing through winding 411 into a path passing through electrical switching element439. The removal of current I, from winding 411 produces an instantaneous change of voltage polarity across winding 411 as the energy which has been stored in the inductance of winding 411, attempts to maintain the current I, flowing in the windings. Maintenance of current I, is in accordance with the well known properties of an electrical inductance coil, that of maintaining a previously established current flow within itself so long as magnetically stored energy is available to sustain the flow. The instantaneous change of polarity of the voltage across winding 411 tends to raise the voltage at circuit node 405 to some positive value as is indicated by the portion 443 of the waveform shown in FIG. 108, the instantaneous polarity of the voltage across winding 411 now being that indicated by the symbols 417 and 419.

Interruptions of the path by which current II, 423, has been flowing through electrical switching element transistor 407 produces an instantaneous change of voltage polarity across inductance coil 399, the new polarities for inductance coil 399 being indicated by symbols 404 and 402, this change of polarity being also according to the previously mentioned behavior of an electrical inductance coil having an interruption of a steady state current flow. Since both the electrical energy stored within winding 411 and that stored in inductance coil 399, tend to place circuit node 405 at some positive potential upon interruption of the steady state current path through switching element transistor 407, there are in reality two sources of energy causing the previously mentioned rise shown by region 443 of the FIG. 10B curve. In the absence of a voltage limit ing mechanism, acting on node 405, the voltage at node 405 will increase to some high value even as high as several thousand volts as a result of the energy stored in winding 411 and inductance coil 399.

Transistor O1, 407 in addition to serving as a switching device, also acts as a voltage limiting mechanism during the interval of high voltage appearing at circuit node 405. The amplitude to which transistor Q1 will allow the voltage on ciruit node 405 to rise is dependent upon the secondary breakdown characteristics of the transistor junction employed in the circuit 'at the O1, 407 position. The 2N3773 transistors specified in FIG. 10A have a secondary breakdown characteristic tending to limit the voltage at circuit node 405 to about volts, when a current of 10 amperes is flowing.

Since both the winding 411 and the inductance coil 399 obey the fundamental relationship of V=Ldi/dt, where V is the voltage developed across an inductance L that is incurring a current change at the rate of di/dt, both the rate at which current can change in winding 411, and the rate at which energy can be withdrawn from the inductance of winding 411 and therefore the rate at which magnetic flux between motor rotor and stator can be removed, are dependent upon the magnitude of the voltage allowed at circuit node 405. If a transistor device having a higher voltage secondary breakdown characteristic than the 2N 3773 is employed at the O1, 407 position, the energy removal process will occur more quickly than in the ISO microsecond interval indicated at 451 in FIG. 10B. Power transistor devices of the NPN type are available with a reverse voltage rating higher than 160 volts, however, these transistors may not be appropriate for the present invention since the voltage developed at node 405 will readily exceed any reverse voltage breakdown capability found in a power transistor not designed for operation as an energy dissipating device in the secondary breakdown mode of operation. The 2N3773 has a secondary breakdown energy dissipating characteristic which is relatively high in voltage rating considering the present state of the transistor art. The energy dissipation which occurs in transistor Q], 407, represents a change in magnetic flux within the ferromagnetic structure associated with electrical winding 411 from the point 461 to the point 463 on the magnetic hysteresis, B-l-I curve of FIG. C.

Although the transistors employed as electrical switching elements 407 and 439 limit the voltage appearing at circuit node 405 to a value near l60 volts, it is significant to realize that this 160 volt limitation may in fact permit more rapid discharge of the energy stored in winding 411 than would a mechanical switch device wherein energy stored in the winding inductance would be dissipated in the form of an electrical arc. The voltage developed across an established electrical arc wherein there are ionized molecules of metal and high temperature gases provides a current flow path that may have lower electrical impedance than that of the 2N3773 transistors operating in 160 volt secondary breakdown dissipation mode.

During the 150 microsecond portion 477 of the curve shown in FIG. 10B, energy is being extracted from both electrical winding 411 and inductance coil 399 and is being dissipated in the secondary breakdown action of transistor Q1, 407; the duration of this energy dissipating period, that is the length of the curve position 447 in FIG. 108 being dependent upon the amount of energy stored in winding 411. For instance, where the voltage across transistor Q1, 407 is the previously mentioned 160 volts and the inductance of winding 411 is three millihenrys, and the initial winding current is five amperes, the instantaneous rate of change of current, di/dt, is near fifty three times 10 amperes per second and the energy store within winding 411 should be discharged in about IOOmicroseconds of time. Following discharge of the energy stored within winding 411, the current in transistor Q1, 407, decreases from the ten ampere value which prevailed while both inductance coil 399 and winding 411 were feeding current into node 405 to some current value near five amperes; the decrease in current flow in transistor Q1, 407,'resulting in a decreased voltage across the transistor Q1, as is shown by the portion 449 of the curve in FIG. 108.

One of the important features of the FIG. 10A circuit is that by selecting inductance coil 399 to have an inductance much larger than that of the winding 411, there is sufficient energy stored within the inductance coil 399 following complete discharge of winding 411 to permit energy from inductance coil 399 to immediatey and automatically establish a reverse current in winding 411. This reverse current is effective to overcome the residual magnetism componet of flux in the ferromagnetic structure associated with winding 411 and to move the operating point of the ferromagnetic structure in the motor from point 463 in FIG. 10C to point 467. The desirability of this reverse current energy storage is one of the major purposes for including inductance coils 399 and 431 in the circuit of FIG. 10A.

It is to be noted that resistance element 397 removes energy from inductance coil 399 during both the period when transistor O1, 407 is removing energy and also during the period when inductance coil 399 is providing reverse current in winding 411; however, so that the combination of energy removal by resistance 397 and transistor 407 do not prematurely exhaust the energy available from inductance coil 399, it is necessary that consideratlon be given to the relative quantities of energy stored and the energy dissipating rates of the circuit components. In the FIG. 10 embodiment of the circuit where a 48 volt power source is used, it has been found satisfactory to provide an inductance of about 30 millihenrys or 10 times the inductance of winding 411 for the inductance coils 399 and 431.

Several features make the circuit in FIG. 10A particularly desirable for driving the torsional stepping motor of the present invention. Among these features are the following:

1. The circuit establishes pre-existing currents which are merely dlverted or steered from their established path in a circuit node, such as nodes 437 and 405 in FIG. 10A, into the windings of the torsional stepping motor, pre-establlshed current steering being in lieu of the usual motor energizing technique of closing an electrical circuit and waiting for the current to attain a desired value. In a load which includes an inductive device, such as winding 411, the use of pre-established currents that are regulated by a larger inductance element is a speed increasing factor.

2. The circuit of FIG. 10A employs the energy storing capability of an auxiliary electrical inductance coil, i.e. coil 399, to collect over a long period of time the energy needed during transient energlzation events for the load winding 411; the energy release characteristics of the storage inductance coil 399 being almost ideally suited for the excitation needs of an inductive load member such as winding 411.

3. The circuit insofar as load windings 411 are concerned acts as a constant current generator, that is, it provides current having a magnitude substantilly independent of the voltage appearing across load winding 411. As a result of the energy storing capability of the inductance coils 399 and 431, the total power supply energy which must be dissipated to achieve the constant current characteristic is much less than would be the case if conventional constant current circuits employing large voltages and high series resistances or dynamic constant current generators were employed to excite winding 411.

4. The circuit of FIG. 10A ideally meets the fast flux reversal demands of winding 411 by providing both a high voltage energy dissipating medium and a high voltage source of reverse current for overcoming residual magnetic flux in the motor ferromagnetic structure; conversion between action as an energy dissipating means and action as a source of energy for the reverse magnetic flux being automatic with the circuit and occurring precisely at the time instant when energy has been exhausted from load winding 411. Immediatey following dissipation of the magnetic energy stored in winding 411, the pre-established voltage across transistor Q1, 407 generate in winding 411 a reverse current for overcoming residual mggnetism in the ferromagnetic structure of the steppng motor; this reverse current representing a diversion of some energy from inductance coil 399 from the dissipation mechanism of transistor Q1, 407 into winding 411.

5. The circuit of FIG. 10A combines the required energy dissipating element and the required electrical switching element into a single structure having particularly desirable electrical properties, wherein dissipation occurs under constant voltage conditions rather than under the slower constant resistance conditions. 

1. A stepping motor comprising a shaft, a first rotor secured to one end of the shaft and a second rotor secured to the opposite end of the shaft, a first stator and a second stator circumferentially associated with their respective rotors, each stator having a coil contained therein, and means for alternately energizing and de-energizing each respective coil for rorating the ends of the shaft in incremental manner in the same direction, the energization of the first coil capturing the first rotor and stator in locked position, and the energization of the second coil advancing the second rotor a predetermined angular distance in relation to the second stator, thereby rotating the second rotor shaft end in said direction eyond the locked position of the first rotor and stator, thereby subjecting the shaft to a twisted condition, the de-energization of the first coil releasing the first rotor shaft end and permitting rotation of the first rotor shaft end a predetermined angular distance equal to the advancement of the second rotor, and the energization of the first coil locking the first rotor and stator in the advanced position.
 2. The motor of claim 1 wherein the shaft is a torsion bar capable of incremental rotation alternately at the ends thereof in response to energization and de-energization of the respective coils.
 3. A stepping motor comprising a torsional shaft, a first rotor secured to one end of the shaft and a second rotor secured to the other end of the shaft, a first stator and a second stator circumferentially associated with their respective rotors, the rotors each having teeth on the outer periphery thereof and the stators each having corresponding teeth on the inner periphery thereof, a first stator coil and a second stator coil capable of being energized and de-energized independently of each other, and means for energizing and de-energizing said coils for rotating the ends of the shaft in incremental manner in the same direction, the first rotor and its shaft end being rotated a predetermined angular distance equal to the spacng between stator teeth in response to energization of the first coil, the second rotor and its shaft end being rotated in the same direction a distance equal to that of the first rotor, and tHe de-energization of the respective coils permitting rotation of the shaft ends in alternate manner while holding the opposite end against rotation through energization of its respective stator coil, the rotation of one shaft end causing twisting of the shaft to advance the rotor teeth on said one end beyond the predetermined distance position of the other end.
 4. The motor of claim 3 wherein the shaft is a torsion bar capable of alternate rotation at the ends thereof in response to energization and de-energization of the respective coils for advancing the shaft ends in intermittent fashion.
 5. In a stepping motor having an output end for delivering rotary motion in incremental manner, a shaft capable of having one end rotated a predetermined arcuate distance while holding the other end against rotation, a first rotor and a second rotor secured to respective ends of the saaft, the rotors hav1ng teeth on the periphery thereof, a first stator and a second stator circumferentially associated with the respective rotors, the stators having teeth on the inner periphery corresponding to the teeth of the rotors, a first coil and a second coil contained in the respesctive stators, said coils being capable of independent energization and de-energization thereof, and means for alternately energizing and de-energizing the respective coils to cuase rotation of one end of the shaft and its rotor while holding the other end and its rotor from rotation, the energization of the firs1 coil aligning the teeth of the first rotor with the teeth of the first stator, the energization of the second coil causing rotation of the second rotor and its shaft end to a position wherein the teeth of the second rotor are aligned with the teeth of the second stator, thereby twisting the shaft the predetermined arcuate distance resulting in stored energy therein, and the de-enerization of the first coil thus permitting releasing of the stored energy to rotate the first rotor shaft end the predetermined distance to align the rotor teeth with the next successive stator teeth and the re-energization of the first coil locking the aligned teeth in the advanced position.
 6. In the stepping motor of claim 5 wherein the shaft is a torsion bar for stroing energy therein and for releasing energy therefrom upon energization and de-energization of the respective stator coils in alternate manner.
 7. In the stepping motor of claim 5 wherein the shaft is a torsion bar having a central portion of reduced cross-section to permit twisting thereof upon energization of the respective coils. 8 In the stepping motor of claim 5 wherein the shaft is of a material selected for low losses from torsional binding to permit storing and releasing of energy for rotating one end of the shaft while holding the other end against rotation.
 9. A method of incrementally rotating alternately each end of a shaft in stepping motor having a first and a second rotor-stator assembly, comprising the steps of energizing the first rotor-stator assembly to fix the position of one end of the shaft, energizing the second rotor-stator assembly to initially rotate the other end of the shaft, thereby subjecting said other end of the shaft to a torsional condition in relation to said one end, de-energizing the first rotor-stator assembly thereby releasing the shaft to freely rotate an angular distance in one direction and subjecting said one end of the shaft to a torsional condition in relation to said other end, re-energizing the first rotor-stator assembly to lock said one end of the shaft when it has rotated said distance, de-energizing the setond rotor-stator assembly, thereby releasing the shaft to freely rotate said angular distance in said direction and subjecting said other end of the shaft to a torsional condition in relation to said one end, and re-energizing the second rotor-stator assembly to lock said other end of the shaft when it has rotated said distance.
 10. The method of claim 9 wherein the shaft is a torsion bar selected from materials having low losses in torsional bending and includes a central portion of reduced diameter.
 11. The method of claim 9 wherein the rotor-stator assemblies include corresponding teeth thereon and the shaft freely rotates, upon releasing thereof, an angular distance equivalent to one tooth spacing.
 12. A stepping motor comprising a torsional shaft having an output end and a restore end, a first rotor member secured to the output end of the shaft and having a first stator member circumferentially associated therewith, a second rotor member secured to the restore end of the shaft and having a second stator member circumferentially associated therewth, the respective rotors and stators each having teeth thereon arranged for magnetic attraction therebetween, a first coil and a second coil contained in the respective stators and capable of independent energization, means for energizing the first coil for attracting respective teeth of the first rotor and stator to hold the output end of the shaft in fixed condition, means for energizing the second coil for attracting respective teeth of the second rotor and stator to move the restore end of the shaft to a rotated position in one direction, thereby subjecting the restore end to a twisted condition in relation to the output end, means for de-energizing the first coil to release the output end of the shaft for rotation an angular distance in said direction thereby subjecting the output end to a twisted condition in relation to the restore end, means for re-energizing the first coil during rotation of the output end from the fixed condition to the released condition whereby teeth of the first rotor are attracted to teeth of the first stator to lock the output end of the shaft in the next position, means for de-energizing the second coil to release the restore end of the shaft for rotating said angular distance in said direction thereby subjecting the restore end to a twisted condiiion in relation to the output end, and means for re-energizing the second coil during rotation of the restore end from the fixed condition to the released condition whereby teeth of the second rotor are attracted to teeth of the second stator to lock the restore end of the shaft in the next position.
 13. The stepping motor of claim 12 wherein the torsional shaft is selected from materials having low losses in torsional bending and includes a central portion of reduced diameter.
 14. The stepping motor of claim 12 wherein the rotors and stators have equal number of teeth thereon and are respectively aligned upon locking of the ends of the shaft.
 15. A torsional stepping motor system comprising a first stepping motor device having n discrete stepping positions and including as parts thereof a first n poled stator member, a first n poled rotor member, and first electrical windings, a second stepping motor device having n discrete stepping positions and including as parts thereof a second n poled stator member, a second n poled rotor member, and second electrical windings, a torsionally resilient motor shaft member connected at one end thereof to said first rotor member and at the other end thereof to said second rotor member, the quiescent arrangement of the torsionally resilient shaft member and the first and second rotor and stator members being such that when the n rotor and stator poles of one motor are aligned, the n rotor and stator poles of the other motor are misaligned by substantially one-half of a pole space, the rotor and stator poles of both motors being simultaneously alignable against force from the torsionally resilient shaft member by simultaneously exciting said first and second electrical windings, and exciter means including a source of electrical energy and a plurality of electrical energy controlling elements for supplying both timed and continuous quantities of elecTrical energy independently to said first and second electrical windings.
 16. The torsional stepping motor system of claim 15 wherein said first and second stepping motor devices are each incremental motion rotary magnetic exciters having a single time phase magnetic circuit.
 17. Stepping motor apparatus comprising a first stepping motor including as members thereof a first stator member containing a first set of stator teeth, a first rotor member containing a first set of rotor teeth, said rotor and stator members being concentrically mounted with the rotor member being magnetically rotatable sequentially into any one of n tooth aligned first motor incremental rotation positions, a second stepping motor including as members thereof a second stator member containing a second set of stator teeth, a second rotor member containing a second set of rotor teeth, said rotor and stator members being concentrically mounted with the rotor member being magnetically rotatable sequentially into any one of n tooth aligned second motor incremental rotation positions, one or more additional stepping motors each including as members thereof a stator member containing a set of stator teeth, a rotor member containing a set of rotor teeth, each of the rotor and stator members being concentrically mounted with the rotor member being magnetically rotatable sequentially into any of n tooth aligned motor incremental rotation positions, first torsionally resilient coupling means for mechanically coupling the first rotor member with the second rotor member, and second and subsequent torsionally resilient coupling means for respectively mechanically coupling the second rotor member with the third rotor member and the third rotor member with any subsequent rotor members and for coupling together any additional subsequent rotor members, the rotational alignment of the three and any additional stator members with the three and any additional rotor members and with the two and any additional torsionally resilient coupling means for mechanically coupling being such that the incremental rotation positions of the first and the second and subsequent motors are uniformly and successively rotationally displaced in a larger rotational increment each from the other through twisting action of said first and second and any subsequent coupling means, there being within each 360/n degree arc of rotor shaft rotation a number of pole-aligned incremental positions equaling the number of stepping motors in said apparatus, the arrangement of all the rotor and stator members and all the torsionally resilient coupling means being such that two adjacent rotor teeth located on two adjacent rotor members are aligned with their closest adjacent stator teeth by magnetic excitation of the respective stator members to overcome torque from the torsionally resilient coupling means located between said two adjacent rotor members.
 18. The stepping motor apparatus of claim 17 wherein said apparatus also includes means for independently and periodically exciting each of the stepping motors.
 19. Incremental motion apparatus comprising first electrical-to-mechanical energy transducer means including a first rotor means for converting electrical energy into incremental rotation mechanical energy, second electrical-to-mechanical energy transducer means including a second rotor means for converting electrical energy into incremental rotation mechanical energy, rotationally resilient coupling means connected at one end thereof to said first rotor means and the other end thereof to said second rotor means for torsionally storing and for transmitting between said two rotor means portions of said incremental rotation mechanical energy and for urging said first and second rotor means toward rotationally displaced rotational positions through twisting and releasing action of said rotationally resilient coupling means, and electrical exciting means for exciting said first and second energy Transducer means.
 20. The incremental motion apparatus of claim 19 wherein said electrical exciting means includes at least one source of electrical energy and plural electrical switching means connected with said electrical to mechanical energy transducer means for controlling the flow of electrical energy between said source and said electrical windings.
 21. The incremental motion apparatus of claim 19 wherein each of said first and second electrical-to-mechanical energy transducer means is an electromagnetic exciter device having a unitary time phase electrical winding circuit and a unitary time phase magnetic circuit that includes all of the rotor and stator poles in said exciter device whereby magnetic flux induced in said electromagnetic exciter by said unitary time phase electrical circuit acts upon all rotor and all stator poles in said electromagnetic exciter device leaving no poles idle for energization during succeeding time phases, and wherein each of said magnetic exciter devices is free of inactive rotor and stator poles needed for starting torque generation and thereby is capable of producing high torque output per unit of exciter weight and high torque output per unit of rotor inertia.
 22. The incremental motion apparatus of claim 19 wherein said first and second electrical-to-mechanical transducer means are multi-phased stepping motors having a plurality of phase displaced electrical and magnetic circuits that are excitable in time displacement.
 23. The incremental motion apparatus of claim 19 wherein said rotationally resilient coupling means is a torsion bar.
 24. The incremental motion apparatus of claim 23 wherein said torsion bar is composed of alloy steel.
 25. The incremental motion apparatus of claim 23 wherein said torsion bar is composed of steel identified as Ball Bearing Steel.
 26. The incremental motion apparatus of claim 25 wherein said torsion bar is composed of American Iron and Steel Institute Number 52100 Ball Bearing Steel.
 27. The incremental motion apparatus of claim 24 wherein said torsion bar is composed of steel and fabricated into a shape having a length to diameter ratio near
 16. 28. The incremental motion apparatus of claim 23 wherein the material composition of said torsion bar includes an aluminum alloy.
 29. The incremental motion apparatus of claim 19 wherein the incremental rotation positions of said first rotor means in said first electrical to mechanical energy transducer means are located substantially one-half way between the incremental rotation positions of said second rotor means in said second electrical-to-mechanical energy transducer means and wherein at least one of said first and second electrical-to-mechanical energy transducer means includes plural stator means with at least one of said plural stator means being rotationally misaligned from the other of said plural stator means, the amount of said misalignment being small with respect to the rotational displacement between said first and second rotor means incremental rotation positions whereby the initial rotation direction of said electrical-to-mechanical energy transducer means rotor engaged with said plural stator means is made predictable by said rotationally misaligned stator means.
 30. A stepping motor system comprising a first stepping motor device having n discrete stepping positions and including as parts thereof, a first n poled stator member, a first n poled rotor member, and first electrical windings, a second stepping motor device having n discrete stepping positions and including as parts thereof, a second n poled stator member, a second n poled rotor member, and second electrical windings, a resilient coupling member joined at one end thereof to said first rotor member and at the other end thereof to said second rotor member, the arrangement of said resilient coupling member, said first and second rotors and said first and second statOrs being such that when the n rotor and n stator poles of one motor device are aligned, the n rotor and n stator poles of the other motor device are quiescently misaligned by substantially one-half of a pole space, the rotor and stator poles of both motors being simultaneously alignable against force from the resilient coupling member by simultaneous excitation of the first and second electrical windings.
 31. A method for actuating an intermittent motion apparatus of the type having two electrical-to-mechanical energy transducer devices wherein each device includes an incrementally rotating rotor portion joined to an opposing rotor portion by a torsionally resilient coupling member, the transducers having incremental positions that are rotationally misaligned by substantially one-half of a rotor increment, comprising the steps of electrically rotating the rotor portion of one of the transducer devices into a first rotor incremental position by electrically exciting the first transducer device, electrically moving the rotor portion of the second transducer device against torsional force from the resilient coupling member into a nearby second rotor incremental position by electrically exciting the second transducer device, the torsionally resilient coupling member being thereby distorted through one-half of an increment in a first rotational direction, electrically releasing the rotor portion of the first transducer device from the first rotor incremental position under the urging of torsional force from the distorted resilient coupling member, thereby allowing the torsional force to accelerate the first rotor portion away from the first rotor incremental position toward a position of zero distortion in the resilient coupling member and toward a new first rotor incremental position wherein distortion of the resilient coupling member is reverse that of the first rotational direction, electrically attracting the rotor portion of the first transducer device to the new first rotor incremental position by re-exciting the first transducer device, electrically freeing the rotor portion of the second transducer device from the second rotor incremental position under the urging of torsional force from the distorted resilient coupling member, thereby allowing the torsional force to accelerate the second rotor portion away from said second rotor incremental position toward a position of zero distortion in the resilient coupling member and toward a new second rotor incremental position wherein distortion of the resilient coupling member is in the first rotational direction, electrically drawing the rotor portion of the second transducer device to the new second rotor incremental position by re-exciting the second transducer device, and repeating the steps of electrically releasing, attracting, freeing, and drawing until the rotor portions attain a predetermined rotational position.
 32. The method of claim 31 including terminating the steps relating to the first transducer device with an electrically attracting step, and terminating the steps relating to the second transducer device with an electrically drawing step whereby both rotors are retained quiescently in an excited and position determined condition and the torsionally resilient coupling is retained quiescently in a rotationally distorted condition ready for the acts of electrically releasing and electrically freeing the rotor portions.
 33. The method of claim 31 including the step of electrically disengaging the rotor portion of at least one of the transducer devices from an incremental position thereby allowing at least one of the rotor portions and one end of the torsionally resilient coupling member to be free during quiescence, whereby total quiescent power dissipation in the transducer devices is decreased during a long holding period.
 34. The method of claim 31 wherein the steps of electrically attracting the rotor portion of the first transducer device anD electrically drawing the rotor portion of the second transducer device are steps commenced before the released and freed rotor portions have rotated respectively into the new first rotor and the new second rotor incremental positions.
 35. A method for operating a pair of mechanically coupled stepping motors having rotationally displaced stepping positions that are mutually attainable by exerting a rotational distorting force upon a rotationally resilient coupling member that joins the two motor rotors, the force being proportional in magnitude to the differential distorted displacement of the rotors, comprising the steps of: holding the rotor of a second one of the stepping motors stationary with respect to its stator in a stepping position, imparting a quantity of potential energy to the rotationally resilient coupling member by moving the rotor of a first one of the stepping motors into a step position against the urging of torque from the rotationally resilient coupling member, magnetically retaining the rotor of the first stepping motor in its attained step position against the urging of torque from the rotationally resilient coupling member, transferring a major portion of the imparted resilient coupling member potential energy into kinetic energy vested in the second stepping motor rotor by virtue of rotational motion thereof, releasing of the second stepping motor rotor from said stepping position while the first stepping motor rotor is held in said step position comprising a part of the transferring step, magnetically urging the rotor of the second stepping motor toward its subsequent stepping position, collecting a major portion of the second rotor kinetic energy and energy from the second rotor magnetic urging into rotationally resilient coupling member potential energy by retaining the first stepping motor rotor in said step position while the kinetic energy of the second stepping motor rotor and energy from the magnetic urging carry the second stepping motor into the subsequent stepping position against torque from the rotationally resilient coupling member, magnetically retaining the rotor of the second stepping motor in said subsequent stepping position against the urging of torque from the rotationally resilient coupling member, transmuting a major portion of the collected coupling member potential energy into kinetic energy vested in the first stepping motor rotor by virtue of rotational motion thereof, releasing of the first stepping motor rotor from said step position while the second stepping motor rotor is held in said stepping position comprising a part of the transmuting step, magnetically urging the rotor of the first stepping motor toward its succeeding step position, converting a major portion of the first kinetic energy and energy from the first rotor magnetic urging into rotationally resilient coupling member potential energy by retaining the second stepping motor rotor in said stepping position while the kinetic energy of the first stepping motor rotor and energy from the magnetic urging carry the first stepping motor rotor into the succeeding step position against torque from the rotationally resilient coupling member, magnetically retaining the rotor of the first stepping motor in said succeeding step position against the urging of torque from the rotationally resilient coupling member, and continuing the steps of transferring, magnetically urging collecting, magnetically retaining, transmuting, magnetically urging, converting, and magnetically retaining until the rotors attain a desired rotational position.
 36. The method of claim 35 including terminating the steps of transferring, magnetically urging, collecting, magnetically retaining, transmuting, magnetically urging, converting, and magnetically retaining with at least one of the two rotors magnetically engaged with a stepping motor stator.
 37. The method of claim 35 wherein the transferred and transmuted portions of torsion bar potential eneRgy are diminished by the energy imparted to a motor load and by motor losses.
 38. The method of claim 35 wherein the releasing of second stepping motor rotor from said stepping position and the releasing of first stepping motor rotor from said step position each include the step of removing substantially all of the magnetic flux linking rotor and stator portions of the stepping motor before the released rotor has traveled through an appreciable portion of the rotational angle between its previous and next stepper positions, rate of travel of the released rotor being significantly related to the natural frequency torsional oscillation characteristic of the rotor and rotationally resilient coupling member combination, whereby only a small fraction of the rotationally resilient coupling member potential energy is lost through generator action between magnetically coupled rotor and stator members and a large portion of said coupling member energy is thereby available for transferring and transmuting into rotor kinetic energy.
 39. The method of claim 38 wherein the removing of substantially all of the magnetic flux prior to appreciable travel of the released rotor includes subjecting the motor magnetic structure to a magnetomotive force that is counter to the magnetic flux being removed.
 40. The method of claim 35 wherein the removing of substantially all of the magnetic flux prior to appreciable travel of the released rotor includes removing magnetic flux stored energy from the stepping motors in the presence of a large voltage across the electrical terminals of the motor windings.
 41. A method for transferring energy into and between a cooperating pair of stepping motors that have rigidly coupled stator members and a rotor system that includes a pair of rotor members joined together by a resilient torsion member capable of torsionally storing mechanical energy, comprising the steps of introducing a first quantity of energy into said rotor system by exciting one of the stepping motors and commencing rotation of the rotor member thereof, the introduced energy being supplied to the first stepping motor as electrical energy and transduced therein into rotational mechanical energy, displacing a portion of the first quantity of energy from the moving first rotor member into the second motor rotor member via the resilient torsion member, thereby placing the second rotor member in rotation and halting rotation of the first rotor member, the displacing including the operations of collecting the displaced portion of the first quantity of energy as potential energy stored in the resilient torsion member by a physical distortion thereof, the displacing and collecting including the operations of maintaining excitation in both motors while collecting energy in and physically distorting the resilient coupling member and removing excitation from the second motor while the rotor thereof is influenced by energy stored in the resilient torsion member, adding a second quantity of energy to said rotor system by exciting the second stepping motor, the added energy being supplied to the second stepping motor as electrical energy and transduced therein into rotational mechanical energy that adds to the energy said second rotor received from said resilient coupling member, transposing a portion of the total energy in the second rotor member from the rotating second rotor member back into the first rotor member via the resilient torsion member, thereby placing the first rotor member in rotation and halting rotation of the second rotor member, the transposing including the operations of collecting the transposed portion of the total energy in the second rotor as potential energy stored in the resilient torsion member by a physical distortion thereof, the transposing and collecting including the operations of maintaining excitation in both motors while collecting energy in and physically distorting the resilient torsion member and removing excitation from the first motoR while the rotor thereof is influenced by energy stored in the resilient torsion member, and selecting the quantities of energy applied to said rotor system as said first and second quantities of energy to be quantities that are sufficiently large to at least compensate for energy losses in the cooperating pair of stepping motors and an energy dissipative motor load and are sufficiently small to at least preclude continuously increasing rotor velocities in said rotor system.
 42. The method of claim 41 wherein the acts of removing excitation from the second motor and removing excitation from the first motor while the rotors are influenced by energy stored in the resilient coupling member include removing substantially all magnetic flux from the stepping motors before the physically distorted resilient coupling member relaxes through a significant arc of rotation, whereby the energy collected in the distorted resilient coupling member is largely transferred into rotor member rotational kinetic energy and not lost to magnetic flux forces acting on said rotor member.
 43. A method for introducing energy to and exchanging energy between a cooperating pair of stepping motors having rotationally misaligned stepping positions, rigidly coupled stator members, and a rotor system that includes a pair of rotor members joined by a rotationally resilient coupling member which is capable of torsionally storing mechanical energy, comprising the steps of placing a first quantity of energy in the resilient coupling members of the rotor system by rotating the rotor of one of the motors against torque from the resilient coupling member into a step position, the rotor of the second motor being held stationary in a stepping position during rotation of the first rotor, the placed quantity of energy being supplied to the first motor as electrical energy and transduced therein into mechanical energy, the placed quantity of energy being stored in the resilient coupling member as a first quantity of potential energy by said first rotor rotation against torque from the resilient coupling, transferring a portion of the first quantity of energy from the resilient coupling member into the second rotor as kinetic energy, the transferring including the act of releasing the second rotor from said stepping position under the influence of stored energy rotational torque from the resilient coupling member, thereby allowing the second rotor to be rotationally accelerated, while holding the first rotor stationary in said step position, introducing a second quantity of energy to the rotor system while the second rotor is moving away from said stepping position toward a subsequent stepping position, the introducing including the act of exciting the second motor, the second quantity of energy being furnished as electrical energy to the second motor and transduced therein into second rotor mechanical energy, the second quantity of energy being added to the transferred portion of the first quantity of energy to provide, in the moving second rotor, a summed quantity of energy at least sufficient to rotate the second rotor end of the resilient coupling member against resilient coupling member torque through an angle substantially equaling the angle of rotational misalignment and thereby carry the second rotor into the subsequent stepping position and thereby convert part of the summed quantity of energy into a third quantity of potential energy that is stored within the rotationally distorted resilient coupling member, transposing a portion of the third quantity of energy from the resilient coupling member into the first rotor as kinetic energy, the transposing including the act of releasing the first rotor from said step position under the influence of stored energy rotational torque from the resilient coupling member, thereby allowing the first rotor to be rotationally accelerated while the second rotor is held in the subsequent stepping position, adding a fourth quantity of energy to the rotor system while the first rotor is moving away from said step position toward a succeeding step position, the adding including the act of exciting the first motor, the fourth quantity of energy being furnished as electrical energy to the first motor and transduced therein into first rotor mechanical energy, the fourth quantity of energy being added to the transposed portion of the third quantity of energy to provide, in the moving first rotor, a summed quantity of energy at least sufficient to rotate the first rotor end of the resilient coupling member, against resilient coupling member torque through an angle substantially equaling the angle of rotational misalignment and thereby carry the first rotor into the succeeding step position and thereby convert part of the summed quantity of energy into a fifth quantity potential energy that is also stored within the rotationally distorted resilient coupling member, and repeating the acts of transferring, introducing, transposing, and adding until the rotors have passed through a desired angle of rotation.
 44. The method of claim 43 wherein said acts of releasing the second rotor from said stepping positions and releasing the first rotor from said step positions include removing from the releasing motor substantially more of the magnetic flux that couples the rotor and stator members thereof than that quantity of flux necessary to just release a rotor member for rotation, and removing said substantial quantity of flux during a time interval that is short with respect to the time needed for rotation of the released rotor between step positions and stepping positions, respectively, whereby a large fraction of the potential energy stored within the resilient coupling member is conserved for conversion into rotor kinetic energy during the transferring and transposing acts with minimal amounts of said energy being lost by rotor movement against slowly decaying magnetic flux.
 45. The method of claim 43 wherein the removing of magnetic flux includes the acts of quickly dissipating the energy stored in the electrical inductance of the windings of the releasing motor, and immediately following dissipation of the inductance energy, applying to the releasing motor a reverse magnetomotive force capable of overcoming the residual magnetic flux remaining therein.
 46. The method of claim 43 wherein the magnetic flux removing included in the releasing act is accomplished substantially within a period that is less than one-fourth of the time of a torsional oscillation period of the rotor and resilient coupling member combination in the rotor system.
 47. The method of claim 45 wherein the magnetic flux removing is accomplished substantially within a period of less than one-fifth millisecond in a motor having winding inductance that is near the value of three millihenrys and a rotor resilient coupling member torsional oscillation period that is near five milliseconds in duration.
 48. The method of claim 44 wherein the magnetic flux removing is accomplished rapidly by steps that include applying a reverse magnetomotive force to the motor structure.
 49. The method of claim 44 wherein rapid magnetic flux removing is aided by briefly connecting the motor windings to a current source device that is polarized to induce a reverse magnetomotive force into the motor structure.
 50. The method of claim 43 wherein the first quantity of potential energy and the third quantity of potential energy are substantially equal quantities, each being substantially that quantity vested in the resilient coupling member when the ends thereof are held differentially displaced by a rotational angle substantially equaling the angle of rotational misalignment between stepping positions of the two motors.
 51. The method of claim 43 wherein the act of introducing a second quantity of energy to the rotor system and the act of adding a fourth quantity of energy to the rotor system are acts commenced near the time instant when the accelerated rotor and the accelerated rotor end of the resilient coupling member are rotating through the non-distorted zero differential displacement state of the resilient coupling member.
 52. The method of claim 43 wherein the act of introducing a second quantity of energy to the rotor system and the act of adding a fourth quantity of energy to the rotor system are acts commenced after the accelerated rotor and the accelerated rotor end of the resilient coupling member have rotated past the non-distorted zero differential displacement point of the resilient coupling member and have rotated into the proximity of the succeeding stepping and subsequent step positions, respectively.
 53. The method of claim 43 wherein the act of introducing a second quantity of energy to the rotor system and the act of adding a fourth quantity of energy to the rotor system are acts commenced at some instant of time before the accelerated rotor and the accelerated end of the resilient coupling member have rotated so far as the non-distorted zero differential displacement point of the resilient coupling member; the rotating members being urged toward the succeeding stepping position and the subsequent step position, respectively, and away from the preceding stepping position and former step position, respectively, by kinetic energy imparted to the moving members before the introducing and adding acts are commenced.
 54. The method of claim 43 wherein the act of introducing a second quantity of energy to the rotor system and the act of adding a fourth quantity of energy to the rotor system are acts commenced after the accelerated rotor and the accelerated rotor end of the resilient coupling member have rotated past the non-distorted zero differential displacement point of the resilient coupling.
 55. The method of claim 43 wherein the energy difference between the third quantity of energy and the portion of the third quantity of energy that is transposed into the first rotor as kinetic energy is energy that is transferred into a motor load and into energy dissipative loss mechanisms in the motor and load, said mechanisms including motor rotation in the presence of incompletely removed magnetic flux linking the rotor and stator portions of the motor.
 56. The method of claim 43 which also includes the act of halting the sequence of transferring, introducing, transposing, and adding with the first motor rotor and the second motor rotor held in a step position and a stepping position, respectively; the rotors being held in these respective positions following completion of an introducing and an adding act.
 57. The method of claim 43 which also includes the act of terminating the sequence of transferring, introducing, transposing, and adding with at least one of the two motor rotors released from its stepping position.
 58. A method for operating a cooperative pair of stepping motors having a stator system that includes a pair of rigidly coupled stator members and a rotor system that includes a pair of rotor members fixed to opposite ends of a rotatable torsionally resilient coupling member comprising the step of walking the rotor system in rotational increments by successively holding the rotor at one end of the resilient coupling member immobilized while advancing the rotor at the opposite end from a lagging to a leading position with respect thereto, a combination of stator to rotor magnetic force and torsional force from rotational distortion of the resilient coupling member acting upon the rotor during said advancing, each rotor being alternately held immobilized and then advanced by one step while the opposite rotor is simultaneously advanced by one step and then held immobilized whereby the rotor system is walked around the periphery of the stator system by a sequence of motion steps accomplished at alternating ends of the resilient coupling member. 